Paperboard stacking robot

Abstract

The utility model relates to the technical field of palletizing robots, in particular to a paperboard palletizing robot. A paperboard palletizing robot comprises a mechanical arm and a grabbing mechanism installed on the mechanical arm, a steering motor is fixedly installed at the front end of the mechanical arm, and the grabbing mechanism comprises a rack connected to a rotating shaft of the steering motor, a fixed suction cup frame fixedly installed at one end of the rack and a movable suction cup frame movably installed at the other end of the rack. An adjusting motor for driving the movable suction cup frame to move along the rack so as to adjust the distance between the movable suction cup frame and the fixed suction cup frame is fixedly mounted on the rack, and suction cup assemblies are fixedly mounted on the fixed suction cup frame and the movable suction cup frame. The movable suction cup frame moving along the machine frame is adopted, the paper boards of different specifications can be adapted by adjusting the distance between the movable suction cup frame and the fixed suction cup frame, bending caused by the gravity of the paper boards is avoided, and the universality of the device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing robots, in particular to a cardboard palletizing robot. Background Art

[0002] The palletizing robot is the product of the organic combination of machinery and computer programs. It has the characteristics of flexible and precise operation, fast and efficient operation, and high operating efficiency. It plays an important role in the highly automated production process and provides higher production efficiency for modern production.

[0003] In the field of cardboard production and packaging, a robot is usually used in conjunction with a suction cup or a gripper structure to grab, transport and stack cardboard. However, the distance between the suction cups of a traditional suction cup robot is fixed, and it is only suitable for cardboard of specific specifications, so both sides of the cardboard cannot be grabbed at the same time. During the transportation process, the grip is not firm and it is easy to fall, and its versatility is low. Utility Model Content

[0004] The utility model aims to overcome the above-mentioned shortcomings and provide a technical solution that can solve the above-mentioned problems.

[0005] A cardboard palletizing robot comprises a mechanical arm and a grasping mechanism installed on the mechanical arm, a steering motor is fixedly installed at the front end of the mechanical arm, the grasping mechanism comprises a frame connected to the rotating shaft of the steering motor, a fixed suction cup frame fixedly installed at one end of the frame, and a movable suction cup frame movably installed at the other end of the frame, an adjusting motor is fixedly installed on the frame for driving the movable suction cup frame to move along the frame to adjust the distance between the movable suction cup frame and the fixed suction cup frame, and suction cup assemblies are fixedly installed on both the fixed suction cup frame and the movable suction cup frame.

[0006] Furthermore, a slide rod is fixedly installed on the frame, and a slider with a pre-supported sliding fit is provided on the slide rod. The movable suction cup frame is fixedly installed on the bottom of the slider. The frame is also provided with a screw rod that rotates with the slider and is driven by an adjusting motor. The slider is sleeved on the screw rod and threadedly connected to the screw rod.

[0007] Furthermore, the suction cup assembly includes a fixed bracket fixedly mounted on the fixed suction cup frame or the movable suction cup frame and a vacuum air nozzle fixedly mounted on the fixed bracket, and the bottom of the vacuum air nozzle is connected to a vacuum suction cup connected to the air path thereof.

[0008] Furthermore, a connecting rod connected to its air path is fixedly connected to the top of the vacuum suction cup, the top of the connecting rod is inserted into the vacuum air nozzle and slidably cooperates with it, and the outer wall of the connecting rod is sealed with the inner wall of the vacuum air nozzle, and a spring connected between the vacuum air nozzle and the vacuum suction cup is sleeved on the connecting rod.

[0009] Furthermore, the tops of the fixed suction cup rack and the movable suction cup rack are both provided with long strip-shaped mounting grooves, the inner sides of the notches of the mounting grooves are provided with a pair of clamping strips, the fixed bracket is provided with a strip-shaped hole and a mounting screw passing through the strip-shaped hole, and the mounting groove is provided with a locking nut which is threadedly connected to the mounting screw.

[0010] Furthermore, the robotic arm is a four-axis structure.

[0011] Compared with the prior art, the beneficial effects achieved by the utility model are as follows: the utility model adopts a movable suction cup frame that moves along the frame, and can adapt to cardboards of different specifications by adjusting the distance between the movable suction cup frame and the fixed suction cup frame, ensuring that both sides of the cardboard can be grasped at the same time, thereby improving the versatility of the device.

[0012] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0014] Figure 1 It is a structural schematic diagram of the utility model.

[0015] Figure 2 It is a structural schematic diagram of the grabbing mechanism in the utility model.

[0016] Figure 3 It is a structural schematic diagram of the suction cup assembly in the utility model. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] See also Figures 1 to 3A cardboard palletizing robot includes a mechanical arm 1 and a grasping mechanism 2 mounted on the mechanical arm 1. A steering motor 3 is fixedly mounted at the front end of the mechanical arm 1. The grasping mechanism 2 includes a frame 21 connected to the rotating shaft of the steering motor 3, a fixed suction cup frame 22 fixedly mounted at one end of the frame 21, and a movable suction cup frame 23 movably mounted at the other end of the frame 21. An adjusting motor 24 is fixedly mounted on the frame 21 to drive the movable suction cup frame 23 to move along the frame 21 to adjust the distance between the movable suction cup frame 23 and the fixed suction cup frame 22. Suction cup assemblies 4 are fixedly mounted on the fixed suction cup frame 22 and the movable suction cup frame 23. The utility model adopts a movable suction cup frame 23 that moves along the frame 21. By adjusting the distance between the movable suction cup frame 23 and the fixed suction cup frame 22, cardboards of different specifications can be adapted, and bending due to the gravity of the cardboard itself can be avoided, thereby improving the versatility of the device.

[0019] Furthermore, a slide bar 211 is fixedly mounted on the frame 21, a slider 212 is provided on the slide bar 211 for pre-supported sliding cooperation, a movable suction cup frame 23 is fixedly mounted on the bottom of the slider 212, a screw 213 is also provided on the frame 21 for rotation cooperation with the slider and driven by the adjustment motor 24, and the slider 212 is sleeved on the screw 213 and threadedly connected with the screw. The movable suction cup frame 23 of the utility model adopts the slide bar 211 structure to realize the guidance, and cooperates with the screw 213 type driving structure, so the structure is stable, which is conducive to improving the reliability of the device.

[0020] Furthermore, the suction cup assembly 4 includes a fixed bracket 41 fixedly mounted on the fixed suction cup frame 22 or the movable suction cup frame 23 and a vacuum air nozzle 42 fixedly mounted on the fixed bracket 41, and the bottom of the vacuum air nozzle 42 is connected to a vacuum suction cup 43 connected to the air path thereof.

[0021] Furthermore, the top of the vacuum suction cup 43 is fixedly connected to a connecting rod 431 connected to the air path thereof, the top of the connecting rod 431 is inserted into the vacuum air nozzle 42 and slidably cooperates therewith, and the outer wall of the connecting rod 431 is sealedly cooperated with the inner wall of the vacuum air nozzle 42, and a spring 432 connected between the vacuum air nozzle 42 and the vacuum suction cup 43 is sleeved on the connecting rod 431. Specifically, the vacuum suction cup 43 is connected to the vacuum air nozzle 42 through the connecting rod 431, forming a floating structure, which can avoid the vacuum suction cup 43 not being in contact with the paperboard due to the uneven height between the vacuum air nozzles 42 when grabbing the paperboard.

[0022] Furthermore, the tops of the fixed suction cup frame 22 and the movable suction cup frame 23 are each provided with a long strip-shaped mounting groove 5, the inner side of the notch of the mounting groove 5 is provided with a pair of clamping strips, the fixed bracket 41 is provided with a strip hole and a mounting screw 6 passing through the strip hole, and the mounting groove 5 is provided with a locking nut 7 which is threadedly connected to the mounting screw 6.

[0023] Furthermore, the robot arm 1 is a four-axis structure.

[0024] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention.

Claims

1. A cardboard palletizing robot, comprising a mechanical arm and a grasping mechanism mounted on the mechanical arm, characterized in that: A steering motor is fixedly installed at the front end of the robotic arm. The grasping mechanism includes a frame connected to the rotating shaft of the steering motor, a fixed suction cup frame fixedly installed at one end of the frame, and a movable suction cup frame movably installed at the other end of the frame. An adjusting motor is fixedly installed on the frame to drive the movable suction cup frame to move along the frame to adjust the distance between the movable suction cup frame and the fixed suction cup frame. Suction cup assemblies are fixedly installed on both the fixed suction cup frame and the movable suction cup frame.

2. A cardboard palletizing robot according to claim 1, characterized in that: A slide rod is fixedly installed on the frame, a slider with pre-supported sliding fit is arranged on the slide rod, a movable suction cup frame is fixedly installed on the bottom of the slider, a screw rod which rotates with the slider and is driven by an adjusting motor is also arranged on the frame, and the slider is sleeved on the screw rod and threadedly connected with the screw rod.

3. A cardboard palletizing robot according to claim 1, characterized in that: The suction cup assembly comprises a fixed bracket respectively fixedly mounted on the fixed suction cup frame or the movable suction cup frame and a vacuum air nozzle fixedly mounted on the fixed bracket, and the bottom of the vacuum air nozzle is connected to a vacuum suction cup connected to the air path thereof.

4. A cardboard palletizing robot according to claim 3, characterized in that: The top of the vacuum suction cup is fixedly connected to a connecting rod connected to its air path. The top of the connecting rod is inserted into the vacuum air nozzle and slidably cooperates with it. The outer wall of the connecting rod is sealed with the inner wall of the vacuum air nozzle. A spring connected between the vacuum air nozzle and the vacuum suction cup is sleeved on the connecting rod.

5. The cardboard palletizing robot according to claim 3, characterized in that: The tops of the fixed suction cup frame and the movable suction cup frame are both provided with long strip-shaped installation grooves, the inner sides of the notches of the installation grooves are provided with a pair of clamping strips, the fixed bracket is provided with strip-shaped holes and installation screws passing through the strip-shaped holes, and the installation grooves are provided with locking nuts that are threadedly connected to the installation screws.

6. A cardboard palletizing robot according to any one of claims 1 to 5, characterized in that: The robotic arm has a four-axis structure.

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